Sensorless stabilization of bounce juggling

Ronsse, Renaud;Lefèvre, Philippe;Sepulchre, Rodolphe
(2006) IEEE Transactions on Robotics — Vol. 22, n° 1, p. 147-159 (2006)

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Abstract
The paper studies the properties of a sinusoidally vibrating wedge billiard as a model for 2-D bounce juggling. It is shown that some periodic orbits that are unstable in the elastic fixed wedge become exponentially stable in the nonelastic vibrating wedge. These orbits are linked with certain classical juggling patterns, providing an interesting benchmark for the study of the frequency-locking properties in human rhythmic tasks. Experimental results on sensorless stabilization of juggling patterns are described.
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Ronsse, R., Lefèvre, P., & Sepulchre, R. (2006). Sensorless stabilization of bounce juggling. IEEE Transactions on Robotics, 22(1), 147-159. https://doi.org/10.1109/TRO.2005.858860 (Original work published 2006)